JP2735068B2 - Tilt control device for traveling vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling vehicle having a traveling vehicle body supported by a pair of left and right traveling devices, and can be used for, for example, a combine.

[0002]

2. Description of the Related Art Conventionally, in a traveling vehicle, a traveling vehicle is always maintained in a predetermined posture (horizontal horizontal posture, etc.) irrespective of a change in unevenness of a soil surface or a sinking of a traveling device on the soil surface. With respect to the traveling vehicle body, a traveling device such as a pair of left and right rollers or wheels is independently moved up and down by expansion and contraction of left and right vehicle height adjusting cylinders such as hydraulic cylinders. With this configuration, it is also possible to change and adjust the vehicle height of the entire traveling vehicle body by expanding and contracting the vehicle height adjusting cylinder in the same direction.

Further, in such a configuration, a vehicle height reference value setting such as a vehicle height adjustment dial for arbitrarily setting the height of the traveling vehicle body with respect to the left and right traveling devices according to the sinking state of the traveling device or the like. Vessel is required.

[0004]

When the traveling vehicle body tilts due to unevenness of the soil surface or the sinking of the traveling device, the traveling vehicle body can be restored to its original state by moving only one of the left and right traveling devices up and down with respect to the traveling vehicle body. It takes a relatively long time to return to the attitude, and it is not possible to perform quick tilt control according to the tilt state of the traveling vehicle body. In addition, when only one of the right and left traveling devices is moved up and down in this way, the vehicle height of the traveling vehicle body (the average height of the traveling vehicle body with respect to the left and right traveling devices) inevitably changes. In the case of a vehicle provided with the device, the height of the ground work device changes due to the inclination control, which hinders the work.

[0005] In addition, when the inclination control is performed by moving both the right and left traveling devices upside down with respect to the traveling vehicle body, the load applied to the vehicle height adjusting cylinder is different between the ascending side and the descending side. A difference occurs in the expansion and contraction speed of the left and right vehicle height adjusting cylinders, and as a result, the vehicle height of the traveling vehicle body changes.
In addition, the traveling body is positioned at an arbitrary height in a predetermined posture (horizontal posture).
It is necessary to determine the height at which this attitude is maintained, and the reference vehicle height so that the height of the traveling vehicle body does not change even if the tilt control is repeated. .

However, if the vehicle height reference value is set by adjusting the above-mentioned vehicle height reference value setting device, when the vehicle height changes during traveling, it is necessary to make an adjustment again. Frequent operations can be cumbersome. Also, by adjusting the height reference value setting device,
If the driver does not actually perform the elevating operation of the traveling vehicle body, the pilot cannot recognize the actual value of the set vehicle height reference value at the present time, and accordingly,
It is not possible to set an accurate vehicle height reference value according to the current situation.

[0007]

The present invention employs the following technical means in order to solve the above-mentioned problems. That is, the traveling vehicle is supported by a pair of left and right traveling devices,
In a traveling vehicle in which left and right vehicle height adjustment cylinders are interposed between these traveling devices and the traveling vehicle body, and the traveling vehicle body is controlled to move up and down by expansion and contraction operations of the left and right vehicle height adjustment cylinders,
Inclination detecting means for detecting a left-right inclination angle of the traveling vehicle body, and an inclination for reciprocally operating the left and right vehicle height adjusting cylinders to maintain the traveling vehicle body in a set posture based on a detection result by the inclination detecting means. Control means, left and right height detection means for detecting the height of the traveling vehicle body with respect to the left and right traveling devices, and an average value of the detection results by the left and right height detection means is maintained at a predetermined vehicle height reference value. Vehicle height control means for expanding and contracting the left and right vehicle height adjustment cylinders, and a manual vehicle height adjustment means capable of arbitrarily adjusting the height of the traveling vehicle body,
Vehicle height reference value setting means for setting an average value of the detection results detected by the left and right height detection means at the end of the vehicle height adjustment by the manual vehicle height adjustment means as a new vehicle height reference value. This is a feature of a tilt control device for a traveling vehicle.

[0008]

In the traveling vehicle according to the present invention, the traveling vehicle body 1 is supported by a pair of left and right traveling devices 2 and 2, and the left and right traveling devices 2 and 2 are extended and contracted by left and right vehicle height adjusting cylinders 3 and 3. 2 can be moved up and down relatively to the running vehicle body 1, whereby the right and left vehicle height can be changed and adjusted.

When the left and right traveling devices 2 and 2 are affected by changes in unevenness on the soil surface and sinking on the soil surface, the traveling vehicle 1
Posture changes. Then, the inclination detecting means 36 detects the inclination, and the inclination control means causes the right and left vehicle height adjusting cylinders 3 and 3 to expand and contract in a reciprocal manner, and the left and right traveling devices 2 and 2 to reciprocally move up and down. The posture of the traveling vehicle body 1 is maintained at the set posture.

If the vehicle height changes during such tilt control, the left and right height detecting means 38, 39 detect the change in vehicle height, and the left and right height detecting means 38, 39 detect the change in vehicle height. In order to maintain the average value of the detection results by the means 38 and 39 at the vehicle height reference value being set, the left and right vehicle height adjusting cylinders 3 and 3 are extended and retracted, and the left and right traveling devices 2 and 2 are moved up and down to travel. The vehicle height of the vehicle body 1 is maintained at the set vehicle height.

Incidentally, the average value of the detection results by the left and right height detecting means 38, 39, that is, the average height of the left and right traveling devices, is the virtual center when the left and right traveling devices 2, 2 are raised and lowered reciprocally. (The height of the tilt axis of the traveling vehicle body).
Also, the vehicle height can be adjusted by arbitrarily expanding and contracting the left and right vehicle height adjusting cylinders 3 and 3 by the manual vehicle height adjusting means 32. When the vehicle height adjustment is completed, the vehicle height reference value setting is performed. By means, the average value of the detection results detected by the left and right height detecting means 38 and 39 is set as a new vehicle height reference value.

[0012]

As described above, in performing the inclination control,
Since the left and right traveling devices 2 and 2 are raised and lowered reciprocally, the traveling vehicle body 1 can be returned to the set posture in a short time, and the agile inclination control according to the tilting state of the traveling vehicle body 1 can be performed. Further, when the left and right traveling devices are raised and lowered reciprocally, the change in the vehicle height of the traveling vehicle body 1 (the average height of the traveling vehicle body 1 with respect to the left and right traveling devices 2 and 2) is small. In the case of a vehicle provided with a ground work device, a change in the height of the ground work device due to the tilt control can be suppressed, and a good working state can be maintained.

Even if the vehicle height changes due to such inclination control, the vehicle height can be corrected by the vehicle height control means and maintained at a predetermined vehicle height. Also,
The average value of the detection results by the left and right height detection means 38, 39, that is, the average height of the left and right traveling devices, is the height of the virtual center (running) when the left and right traveling devices 2, 2 are raised and lowered reciprocally. (The height of the tilt axis of the vehicle body). Therefore, even when the tilt control and the vehicle height control are performed continuously, the change in vehicle height due to the tilt control is small. Can be.

Further, the vehicle height is actually changed and adjusted by operating the manual vehicle height adjusting means 32, and the vehicle height after the change and adjustment is set as a new vehicle height reference value. Since the vehicle height is controlled by comparing with the detected vehicle height after output, the configuration is simpler than the conventional device, and the vehicle height reference value setting device such as a vehicle height adjustment dial is not required. Operation is also simplified.

Further, in setting the vehicle height reference value, the vehicle height is actually changed and adjusted by manual operation, and as a result, the changed vehicle height is set as a new vehicle height reference value. Therefore, the operator can set the vehicle height reference value after visually recognizing the vehicle height reference value to be set.

[0016]

1 and 2, a pair of left and right crawlers 2 (traveling devices) are independently provided vertically below a vehicle body 1 (traveling vehicle body), and an engine, a cutting device, a threshing device, An undercarriage 4 for mounting or supporting a steering device and the like is provided to constitute a traveling device of the combine. A crawler frame 7 on which rolling wheels 6 of each crawler 2 are arranged is supported via a pair of front and rear support arms 8 and 9 so as to be able to move up and down in parallel to the vehicle body 1. The upper end and the bracket 10 on the vehicle body 1 are connected by a rolling cylinder 3 (vehicle height adjusting cylinder) that is expanded and contracted by a rolling control valve 12 of a hydraulic circuit 11,
The front and rear support arms 8 and 9 are connected by a rod 14, and the support arms 8 and 9 are rotated around pivots 15 and 16 with respect to the vehicle body 1 by expansion and contraction of the rolling cylinder 3, so that the crawler frame 7 is rotated. Is moved up and down.

Reference numeral 17 denotes a sprocket at the front end of the crawler 2, which is fixed to a drive shaft 18 projecting to the left and right sides from a traveling transmission case integrated with the front end of the vehicle body 1, and drives the crawler 2 by rotation of the sprocket 17. can do. The undercarriage 4 has the front end side with respect to the
6 is rotatably supported around the axis, and the rear end is a link arm 1
The pitching cylinder 5 supported by the pitching control valve 20 of the hydraulic circuit 11 is connected between the upper end of the link arm 19 and the chassis 4, and the pitching cylinder 5 is supported between the upper end of the link arm 19 and the chassis 4. The link arm 19 is rotated by hydraulic expansion and contraction so that the chassis 4 can be tilted back and forth around the pivot 16.

The rolling control valve 12, the pitching control valve 20, and the unloading valve 22 of the left and right crawlers 2 arranged in the hydraulic circuit 11 of the hydraulic pump P are in the form of an electromagnetic solenoid, and have an upper left solenoid 23 and a lower left solenoid 2
4, a controller 30 (inclination control means, vehicle height control means, etc.) comprising a right upper solenoid 25, a lower right solenoid 26, a forward tilt solenoid 27, a rearward tilt solenoid 28, an unload solenoid 29 and the like, and constituting a vehicle body level control device. It is provided on the output side of the vehicle height reference value setting means). Reference numeral 31 denotes an automatic lamp which lights when predetermined automatic control is performed by the controller 30.

The controller 30 has a microcomputer, and also constitutes a vehicle height control device for controlling the height of the vehicle body 1, a pitching control device, and the like. The left and upper right solenoids 2 are provided on the input side of the controller 30.
3, 25, and the left and lower right solenoids 24, 26 are simultaneously switched, and the vehicle body 1 is moved up and down in a left-right parallel state to provide a total up / down switch 32 (manual vehicle height adjusting means) for determining the vehicle height. The lower left solenoid 24 and the upper right solenoid 25 are simultaneously turned on by tilting the tilt lever of the control device in the left and right and front and rear directions to tilt to the left, thereby causing the vehicle body 1 to roll and tilt to the left.
Further, by operating to tilt to the right, the lower right solenoid 26 and the upper left solenoid 23 are simultaneously turned ON, and the vehicle body 1 is rolled to the right and tilted forward and rearward to tilt the vehicle body 1 forward and backward. 27, a tilt lever switch 33 for turning on the rear tilt solenoid 28 to pitch the vehicle body 1 to the tilt side is provided. The threshing clutch lever is for turning on and off the threshing clutch that transmits the threshing device. Then, the threshing clutch is turned on by the tilting operation of the threshing clutch lever, the threshing clutch switch 34 is turned on, and the left-right and front-rear horizontal control by the vehicle body level control device 3 is maintained in a state where the vehicle body horizontal switch 35 is turned on. Is what you do.

The vehicle body horizontal switch 35 is for controlling and maintaining the vehicle body 1 horizontally and horizontally, and is provided on the vehicle body 1 and has a left and right inclination sensor 36 for detecting a left and right inclination angle.
(Inclination detecting means) When the vehicle body 1 or the chassis 4 inclines to a predetermined area or more by the longitudinal inclination sensor 37 or the like provided in the chassis 4 and detecting the longitudinal inclination angle, the solenoids 23 to 26 as described above, or By controlling the solenoids 27 and 28, these left and right tilt sensors 36, the front and rear tilt sensors 3
Rolling control right and left so that 7 detects the horizontal state,
Pitching control is performed before and after.

The left stroke sensor 38 (left vehicle height detecting means) detects the length of expansion and contraction of the left rolling cylinder 3, and the right stroke sensor 39 (right vehicle height detecting means) detects the length of the right rolling cylinder 3. The extension and contraction length is detected, and the longitudinal stroke sensor 40 detects the extension and contraction length of the pitching cylinder 5. These stroke sensors 3
Feedback control is performed in control requiring detection of 8 to 40 or the like.

The vehicle height control is based on the height of the vehicle body 1 when completed by operating the overall up / down switch 32.
This is automatically performed when the vehicle height goes wrong for some reason, and is performed so as to maintain the reference vehicle height. The reference vehicle height or the displacement height before control is
It is based on the average value of the vehicle height in each of the left and right crawlers 2. As shown in FIG. 4, when the vehicle height on the left crawler 2 side is detected by the left stroke sensor 38 and is L, and the vehicle height on the right crawler 2 side is detected by the right stroke sensor 39 and is R, the average height is H = (L + R) / 2.

The left and right stroke sensors 38, 39
Is provided so as to detect, as an abnormal stop, that the left and right rolling cylinders 3 are shortened and reach a position where they are not further shortened.
Is provided to detect that the pitching cylinder 5 has been extended and has reached a position where it cannot be extended any more, as an abnormal stop.

The left and right rolling cylinders 3 have a lower body 1 due to shortening, and have a pitching cylinder 5
As a result, the undercarriage 4 becomes parallel to the front and rear with respect to the vehicle body 1 by extension, and becomes a forward-downward inclined state by shortening. Therefore,
With respect to both the left and right crawlers 2, the left and right crawlers 2 and the vehicle body 1 are parallel to the left and right at the lowest vehicle height position where the vehicle body 1 has descended the most, and At the position where the vehicle body 1 is turned backward, the chassis 4 is parallel to the left and right and the front and rear with respect to the vehicle body 1, and this is the minimum vehicle height reference.

As shown in FIG. 4, the left and right crawlers 2 are controlled to change with respect to the vehicle body 1 in a range from a lower limit height h to an upper limit height H. In the left-right horizontal control, as shown in FIG. 5, when the running ground is tilted to the left, the vehicle body 1 is also tilted in the same direction. Therefore, the tilt is detected by the left-right tilt sensor 36, and the detected tilt angle is constant. As described above, the left and right rolling control valves 3 are switched, the rolling cylinder 3 is controlled to expand and contract, and the vehicle body 1 is brought into the left and right horizontal posture. At this time, assuming that the detection values of the left and right stroke sensors 38 and 39 at the first set reference height are L and R, the detection value after the traveling ground is inclined is L + α in FIG. 39 becomes R-β. Here, α = β is output, but in reality, the left rolling cylinder 3 extends so as to push up the vehicle body 1 against the load, and the right rolling cylinder 3 moves in the direction of receiving the load. Since it is shortened, it has a speed difference between expansion and contraction, and is detected as α ≒ β. At this time, the vehicle height is adjusted so as to satisfy the condition of {(L + α) + (R−β)} / 2 = (L + R) / 2. When the vehicle height is {(L + α) + (R−β)} / 2 {(L + R) / 2, the vehicle height control is corrected and (L +
R) / 2 is corrected and controlled.

As shown in FIG. 6, when the traveling ground reaches a predetermined dangerous inclination angle A, which is a limit at which there is a high risk of rollover of the combine body, and the left and right inclination sensor 36 detects this, a left and right rolling is performed. The cylinder 3 is shortened, and the vehicle body 1 is lowered to reach the lowest vehicle height position. At this time, both the left and right stroke sensors 38 and 39 detect h and stop abnormally. At the same time, the output for expanding and contracting the rolling cylinder 3 is stopped (see FIG. 7).

At this time, when the chassis 4 is inclined forward and backward with respect to the vehicle body 1, the pitching cylinder 5 is extended so as to be controlled to be parallel to the vehicle body 1, and the longitudinal stroke sensor 40 is abnormally stopped. Is detected (see FIG. 8). As a result, the output for the expansion and contraction of the pitching cylinder 5 is stopped. Such vehicle height control to the minimum vehicle height position,
The detection is performed not only by detecting the dangerous inclination angle by the left and right inclination sensor 36 but also by detecting the dangerous inclination angle by the front and rear inclination sensor 37. Further, the vehicle speed is changed from a low speed range such as a working speed to a road running speed. A configuration may be adopted in which switching is performed by switching to a high-speed range.

As described above, the left and right rolling cylinders 3
If the detection values of the stroke sensors 38 and 39 no longer change as soon as possible, the output after that is stopped by the detection of the abnormal stop.
2, or when outputting by manual operation using the tilt lever switch 33, regardless of the stroke sensors 38 and 39,
If the configuration is such that manual output can be continued (see FIG. 9), even if the stroke sensors 38 and 39 fail, operation output can be performed, and manual operation control can be performed.

[Brief description of the drawings]

FIG. 1 is a partial side view of an embodiment of the present invention.

FIG. 2 is a control block diagram according to an embodiment of the present invention.

FIG. 3 is a hydraulic circuit diagram in one embodiment of the present invention.

FIG. 4 is a partial front view showing the operation in one embodiment of the present invention.

FIG. 5 is a partial front view showing the operation in one embodiment of the present invention.

FIG. 6 is a partial front view showing the operation in one embodiment of the present invention.

FIG. 7 is a flowchart showing a part of control in one embodiment of the present invention.

FIG. 8 is a flowchart showing a part of control in one embodiment of the present invention.

FIG. 9 is a flowchart showing a part of control in one embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Vehicle body (running vehicle body) 2 Crawler (traveling device) 3 Rolling cylinder (vehicle height adjusting cylinder) 30 Controller (inclination control means, vehicle height control means, vehicle height reference value setting means) 32 Overall up / down switch (Manual vehicle height adjustment means) 36 Left / right inclination sensor (inclination detection means) 38 Left stroke sensor (height detection means) 39 Right stroke sensor (height detection means)

Claims (1)

(57) [Claims] 1. A traveling vehicle body is supported by a pair of left and right traveling devices, and left and right vehicle height adjusting cylinders are interposed between the traveling devices and the traveling vehicle to extend and retract the left and right vehicle height adjusting cylinders. And a tilt detecting means for detecting a left-right tilt angle of the running body, and the left and right sides for maintaining the running body in a set posture based on a detection result by the tilt detecting means. Tilt control means for reciprocatingly operating the vehicle height adjusting cylinder, left and right height detecting means for detecting the height of the traveling vehicle body with respect to the left and right traveling devices, and detecting the detection result by the left and right height detecting means. Vehicle height control means for expanding and contracting the left and right vehicle height adjustment cylinders to maintain an average value at a predetermined vehicle height reference value; manual vehicle height adjustment means capable of arbitrarily adjusting the height of the running vehicle body; Manual vehicle height adjustment hand A vehicle height reference value setting means for setting an average value of detection results detected by the left and right height detection means at the end of vehicle height adjustment by a step as a new vehicle height reference value. Incline control device.